1. A Review on Controllability of Dynamical Systems Presented to : Academic Weekly Sessions of Bagher Menhaj Students 2010, Nov 22 Presented by: S. M. Dibaji, IEEE Member B. Sc. Student of of Applied Math B. Sc. in Electrical Engineering(Control) M.Sc. Student of Electrical Engineering(Control) Supervisors : Prof. Amir Abolfazl Suratgar Prof. Mohammad Bagher Menhaj

2. What is Controllability? Controllability is one of the system’s characteristics. It expresses whether the system dynamic has the ability to steer from one state to another state by settling the admissible controls!? In other words, Is it possible to do a transfer the system states from assumed initial state?

3. The Most Philosophical Question From the System Is it possible? Maybe you can’t believe but controllability analysis asks this essential question from the system. If the system is controllable it is possible to expect it to do our desired behaviour. When we say it is locally controllable, in fact, it can do special jobs by available oppurtunites.

4. Controllability problems has inherent complexity Since the controllability question is about the existence of admissible control(input) to be able to steer the state of the systems to desired region, It can be the most difficult problem in the world of mathematics rather than world of control. ( There are some overlaps between these two wide worlds.) The question of controllability like s ss stability refers to mathematical nature of system dynamic

5. دانشکده مهندسی برق دانشگاه صنعتی امیرکبیر Controllability Concept Add u System x2x2x2x2 x3x3x3x3 x1x1x1x1 Start Goal x0x0x0x0 xfxfxfxf کنترل پذیری سیستم های تصادفی 5

6. A More Realistic Example Consider a box with several balls in it. A baby roles in a box as a control (input), and balls role as states. Everey new situation of balls positions is affected only baby is obviously is hands and legs( controls). We say the box and balls System is controllable if we Can always fine an admissible Sequence of baby movements to new situation of balls(states) in the box.

7. Rudolf Emil Kalman Controllability Idea: Rudolf Emil Kalman ”On the general theory of control systems” First International Congress on Automatic Control, Moscow 1960 “This paper initiates study of pure theory of control “

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10. Linear Time Invariant Systems C.T.Chen and Niedereslki 1966 10

11. Rosenbrock Matrix Rosenbrock Matrix: (A,B) is controllable iff R has full row rank 11

12. PBH Criterion PBH( Popov-Belevitch-Hautus) Citerion: – (A,B) is controllable iff P has full row rank for all s. 12

13. Controllability of LTI Properties 13 (A,B) is controllable iff (A+BK,B) is controllable (A,B) is controllable iff the equivalent system is controllable : Duality with Observability Check with Matlab: Ctrb(A,B) is the controllability matrix of A, B

14. Problem with Rank All the criterion needs to check the rank of matrix, R.D. Lemma: The matrix M has full row rank iff MM’ is nonsingular. 14

15. Linear Time Varying The Controllability depends on the nonsingularity of the below matrix: If D=0, P is nonsingular iff (A,B) is controllable in (t 0,t f ) If D is not zero, the nonsingularity of below matrix is necessary and sufficient: 15

16. CSLHS What is CSLHS? It stands for Controlled Switching Linear Hybrid System

17. Yang Controllability Conditions for CSHLS (2002) If the above controllability matrix has full row rank, the CSLHS is controllable. Theorem 1: Sufficiency

18. References [1] Zhenyu Yang “An Algebraic Approach Towards the Controllability of Controlled Switching Linear Hybrid Systems” Automatica 38 (7), pp 1221-1228,2002 [2] Kazuo Tanaka, Hua O. Wang, Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach, John Wiley & Sons, Inc. 2001.

19. Your Ideas, Questions, and Guidance Your Ideas, Questions, and Guidance